DYNAMIC RESPONSE

CHARACTERISTIC OF MORE
COMPLICATED SYSTEM
Kode presensi: 365461
 Dynamic Response Characteristics of
More Complicated Systems
Inverse Response
Chapter 6

K(1 +  3 s )
G(s) =
(1 +  1s )(1 +  2 s ) slope (t = 0) 0
If 3  0….fast response (see Fig. 6.3)
 3  0 ....invers e response
 3 : zero of transfer function
Use nonlinear regression for fitting data
(graphical method not available)
Chapter 6
 𝑌 𝐾1 𝐾2 𝐾 1 ( 𝜏 2 𝑠 +1 ) + 𝐾 2 ( 𝜏 1 𝑠+ 1 )
= + =
𝑈 𝜏 1 𝑠 +1 𝜏 2 𝑠 +1 ( 𝜏 1 𝑠+ 1 ) ( 𝜏 2 𝑠+ 1 )
Chapter 6

K1 2  K 2 1
For inverse response 0 (6  21)
K1  K 2
𝑌 1+ 𝜏 3 𝑠 𝜏3
= ( 𝐾 1+ 𝐾 2)
𝑈 ( 𝜏 1 𝑠 +1 ) ( 𝜏 2 𝑠 +1 )
Chapter 6

K
G (s) 
s ( 1s  1)( 2 s 2  2 s  1)

4 poles (denominator is 4th order polynomial)

 More General Transfer Function Models
• Poles and Zeros:
• The dynamic behavior of a transfer function model can be
characterized by the numerical value of its poles and zeros.
Chapter 6

• General Representation of a TF:

There are two equivalent representations:

m
i
b s i

G s   i 
n
0
(4-40)
 i
a s i

i 0
 bm s  z1 s  z2  s  zm 
G s   (6-7)
an s  p1 s  p2  s  pn 

where {zi} are the “zeros” and {pi} are the “poles”.
Chapter 6

• We will assume that there are no “pole-zero” cancellations. That

is, that no pole has the same numerical value as a zero.

• Review: n m in order to have a physically realizable system.

 Time Delays
Time delays occur due to:
1. Fluid flow in a pipe
2. Transport of solid material (e.g., conveyor belt)
3. Chemical analysis
Chapter 6

- Sampling line delay

θ
- Time required to do the analysis (e.g., on-line gas
chromatograph)
𝑦 ( 𝑡 )=𝑢 ( 𝑡 − 𝜃 )
Mathematical description:
A time delay,θ , between an input u and an output y results in the following
expression:
𝑌 ( 𝑠 )=𝐿 { 𝑦 ( 𝑡 ) }=𝐿 { 𝑢 ( 𝑡 − 𝜃 ) } =𝑒 𝑈 ( 𝑠 )
−𝜃 𝑠

 0 for t  θ
y t   (6-27)
u t  θ  for t θ
  s Y ( s)
G ( s ) e 
U (s)
Chapter 6
Chapter 6

H1/Qi has numerator dynamics (see 6-72)

 Approximation of Higher-Order Transfer
Functions
In this section, we present a general approach for approximating high-
order transfer function models with lower-order models that have similar
dynamic and steady-state characteristics.
Chapter 6

In Eq. 6-4 we showed that the transfer function for a time delay can be
expressed as a Taylor series expansion. For small values of s,

𝑥0
e  θ0 s 1  θ0 s (6-57)
 • An alternative first-order approximation consists of the
transfer function,

 θ0 s 1 1
e  θ0 s
 (6-58)
1  θ0 s
Chapter 6

where the time constant has a value of θ0 .

• These expressions can be used to approximate the pole or zero
term in a transfer function.
 Skogestad’s “half rule”

• Skogestad (2002) has proposed an approximation method for

higher-order models that contain multiple time constants.
• He approximates the largest neglected time constant in the
following manner.
Chapter 6

- One half of its value is added to the existing time delay

(if any) and the other half is added to the smallest retained time
constant.
- Time constants that are smaller than the “largest
neglected time constant” are approximated as time delays using
(6-58).
 Example 6.4
Consider a transfer function:

K  0.1s 1
G s   (6-59)
5s  13s  10.5s 1
Chapter 6

Derive an approximate first-order-plus-time-delay model,

 θs
Ke
G s   (6-60)
τs  1
using two methods:
(a) The Taylor series expansions of Eqs. 6-57 and 6-58.
(b) Skogestad’s half rule

Compare the normalized responses of G(s) and the approximate models for a
unit step input.
 Solution

(a) The dominant time constant (5) is retained. Applying

the approximations in (6-57) and (6-58) gives:

 0.1s 1 e  0.1s (6-61)

Chapter 6

and

1 1
e  3s e 0.5 s (6-62)
3s  1 0.5s  1
Substitution into (6-59) gives the Taylor series approximation,
GTS s  :
 0.1s  3s  0.5 s  3.6 s
Ke e e Ke
GTS s    (6-63)
5s  1 5s  1
 (b) To use Skogestad’s method, we note that the largest neglected
time constant in (6-59) has a value of three.

• According to his “half rule”, half of this value is added to the

next largest time constant to generate a new time constant
τ 5  0.5(3) 6.5.
• The other half provides a new time delay of 0.5(3) = 1.5.
Chapter 6

• The approximation of the RHP zero in (6-61) provides an

additional time delay of 0.1.
• Approximating the smallest time constant of 0.5 in (6-59) by
(6-58) produces an additional time delay of 0.5.
• Thus the total time delay in (6-60) is,

θ 1.5  0.1  0.5 2.1

 and G(s) can be approximated as:

 2.1s
Ke
G Sk s   (6-64)
6.5s  1

The normalized step responses for G(s) and the two approximate models are
shown in Fig. 6.10. Skogestad’s method provides better agreement with the
Chapter 6

actual response.

Figure 6.10 Comparison

of the actual and
approximate models for
Example 6.4.
 Multivariable Processes
many examples: distillation columns,
FCC,
boilers,
etc.
Consider stirred tank with level controller
Chapter 6

2 disturbances (Ti, wi)

2 control valves (A, B) manipulate ws, wo
2 measurements (T0, h)
controlled variables (T0, h)
change in w0 affects T0 and h
change in ws only affects T0
 Three non-zero transfer functions

T0 (s) T0 (s)
G11  G12 
Ws (s) W0 (s)
H(s) H(s)
G 21  G 22 
Ws (s) W0 (s)
Chapter 6

Transfer Function Matrix

 T0 (s)  G11 G12   Ws (s) 

 H (s)   G G  
W (s ) 
   21 22   0 
From material and energy balances,

K11 K12
G11  G12 
 1s  1 ( 1s  1)( 2 s  1)
K 22
G22 
 2 s 1
Chapter 6
Chapter 6
Chapter 6

Normal method, but interactions may present

tuning problems.

In multivariable control, interactions are treated,

but controller design is more complicated.